Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

fix(vehicle_velocity_converter): simpify parameter inputs #1727

Merged
merged 3 commits into from
Aug 30, 2022
Merged

fix(vehicle_velocity_converter): simpify parameter inputs #1727

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
a7f9840
fix(vehicle_velocity_converter): simpify parameter inputs
kminoda Aug 30, 2022
b8a1f85
fix readme and default value
kminoda Aug 30, 2022
95e7dcf
fix default value
kminoda Aug 30, 2022
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
9 changes: 5 additions & 4 deletions sensing/vehicle_velocity_converter/README.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -20,7 +20,8 @@ This package converts autoware_auto_vehicle_msgs::msg::VehicleReport message to

## Parameters

| Name | Type | Description |
| ------------ | ------ | ----------------------------------------- |
| `frame_id` | string | frame id for output message |
| `covariance` | double | set covariance value to the twist message |
| Name | Type | Description |
| ---------------------------- | ------ | ------------------------------- |
| `frame_id` | string | frame id for output message |
| `velocity_stddev_xx` | double | standard deviation for vx |
| `angular_velocity_stddev_zz` | double | standard deviation for yaw rate |
11 changes: 2 additions & 9 deletions sensing/vehicle_velocity_converter/config/vehicle_velocity_converter.param.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,12 +1,5 @@
/**:
ros__parameters:
velocity_stddev_xx: 0.2 # [m/s]
angular_velocity_stddev_zz: 0.1 # [rad/s]
frame_id: base_link
twist_covariance:
[
0.04, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 10000.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 10000.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 10000.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 10000.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.01,
]
2 changes: 2 additions & 0 deletions ...icle_velocity_converter/include/vehicle_velocity_converter/vehicle_velocity_converter.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -41,6 +41,8 @@ class VehicleVelocityConverter : public rclcpp::Node
twist_with_covariance_pub_;

std::string frame_id_;
double stddev_vx_;
double stddev_wz_;
std::array<double, 36> twist_covariance_;
};

Expand Down
13 changes: 8 additions & 5 deletions sensing/vehicle_velocity_converter/src/vehicle_velocity_converter.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -17,10 +17,8 @@
VehicleVelocityConverter::VehicleVelocityConverter() : Node("vehicle_velocity_converter")
{
// set covariance value for twist with covariance msg
std::vector<double> covariance = declare_parameter<std::vector<double>>("twist_covariance");
for (std::size_t i = 0; i < covariance.size(); ++i) {
twist_covariance_[i] = covariance[i];
}
stddev_vx_ = declare_parameter("velocity_stddev_xx", 0.2);
stddev_wz_ = declare_parameter("angular_velocity_stddev_zz", 0.1);
frame_id_ = declare_parameter("frame_id", "base_link");

vehicle_report_sub_ = create_subscription<autoware_auto_vehicle_msgs::msg::VelocityReport>(
Expand All @@ -44,7 +42,12 @@ void VehicleVelocityConverter::callbackVelocityReport(
twist_with_covariance_msg.twist.twist.linear.x = msg->longitudinal_velocity;
twist_with_covariance_msg.twist.twist.linear.y = msg->lateral_velocity;
twist_with_covariance_msg.twist.twist.angular.z = msg->heading_rate;
twist_with_covariance_msg.twist.covariance = twist_covariance_;
twist_with_covariance_msg.twist.covariance[0 + 0 * 6] = stddev_vx_ * stddev_vx_;
twist_with_covariance_msg.twist.covariance[1 + 1 * 6] = 10000.0;
twist_with_covariance_msg.twist.covariance[2 + 2 * 6] = 10000.0;
twist_with_covariance_msg.twist.covariance[3 + 3 * 6] = 10000.0;
twist_with_covariance_msg.twist.covariance[4 + 4 * 6] = 10000.0;
twist_with_covariance_msg.twist.covariance[5 + 5 * 6] = stddev_wz_ * stddev_wz_;

twist_with_covariance_pub_->publish(twist_with_covariance_msg);
}